EP3847096B1 - Flugsteuervorrichtung für ein flugzeug - Google Patents

Flugsteuervorrichtung für ein flugzeug Download PDF

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Publication number
EP3847096B1
EP3847096B1 EP19755632.7A EP19755632A EP3847096B1 EP 3847096 B1 EP3847096 B1 EP 3847096B1 EP 19755632 A EP19755632 A EP 19755632A EP 3847096 B1 EP3847096 B1 EP 3847096B1
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EP
European Patent Office
Prior art keywords
axis
control lever
frame
shaft
rotation
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Active
Application number
EP19755632.7A
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English (en)
French (fr)
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EP3847096A1 (de
Inventor
Mickael WERQUIN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
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Publication of EP3847096A1 publication Critical patent/EP3847096A1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/04—Initiating means actuated personally
    • B64C13/042—Initiating means actuated personally operated by hand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G5/00—Means for preventing, limiting or returning the movements of parts of a control mechanism, e.g. locking controlling member
    • G05G5/03—Means for enhancing the operator's awareness of arrival of the controlling member at a command or datum position; Providing feel, e.g. means for creating a counterforce
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04714—Mounting of controlling member with orthogonal axes
    • G05G2009/04718—Mounting of controlling member with orthogonal axes with cardan or gimbal type joint

Definitions

  • the invention relates to a flight control device for an aircraft.
  • Flight control devices for aircraft usually comprise a control lever which is pivotally mounted on the frame of the control device according to at least two axes of rotation perpendicular to each other in order to be able to control roll movements and pitch of the aircraft.
  • the control lever is mechanically or electrically connected to one or more piloting members of the aircraft such as control surfaces.
  • flight control devices which comprise control motors associated with the lever so that, for each rotational movement of the lever relative to the built, one of the motors makes it possible to simulate a force feedback to the pilot directing the lever.
  • the lever can thus be manipulated easily and effortlessly by the pilot.
  • control device comprising two electromagnetic actuators associated with the control lever to simulate a force feedback for each rotational movement of the lever around the frame.
  • the electromagnetic actuators are then directly incorporated into the frame of the control device so that the device turns out to be bulky. This is particularly troublesome for aircraft comprising small pilot cabins such as helicopters because the control device can interfere with the pilot.
  • the force felt at the level of the control lever for a rotation around the second axis of rotation Y will be different depending on whether the control lever is also inclined along the first axis of rotation X To the right or to the left.
  • An object of the invention is to propose a flight control device which obviates at least in part the aforementioned drawback.
  • the plate is shaped so that an angle between the second axis and the sixth axis is strictly greater, when the control lever is in a neutral position, than the complement of an angle between the fourth axis and the sixth axis.
  • an axis A inclined with respect to an axis B is meant that the axis A is neither parallel nor perpendicular to the axis B.
  • the angle between the second axis and the sixth axis is greater than or equal to 75 degrees when the control lever is in the neutral position.
  • the angle between the second axis and the sixth axis is between 75 and 100 degrees.
  • the angle between the second axis and the sixth axis is between 75 and 90 degrees.
  • the flight control device comprises a frame 1.
  • the frame 1 extends longitudinally and comprises a floor 2 and at least two side walls opposite one to the other. other and both extending vertically from the floor 2.
  • the device further comprises a first plate 4.
  • the first plate 4 comprises a first frame 4a and a second frame 4b which are stationary with respect to each other.
  • the two frames 4a and 4b are for example a single piece or are two pieces rigidly fixed to each other.
  • the two frames together have the general shape of a frame substantially of the same length as the frame 1.
  • the two frames 4a, 4b extend obliquely with respect to each other.
  • the second frame 4b extends laterally in such a way inclined vis-à-vis the first frame 4a.
  • the first frame 4a extends substantially parallel to the floor of the frame 1 while the second frame 4b is inclined vis-à-vis this floor.
  • the first plate 4 is therefore shaped as a twisted frame.
  • the first plate 4 is directly linked to the frame 1 by a first pivot connection with a first axis of rotation X.
  • first frame 4a is pivotally mounted on one of the side walls of the frame 1 and the second frame 4b is pivotally mounted on the other of the side walls of frame 1.
  • the device further comprises a control lever 8 which is associated with the frame 1 and which here comprises a handle forming a free end of the control lever and a second plate 10 here in one piece with the handle.
  • a control lever 8 which is associated with the frame 1 and which here comprises a handle forming a free end of the control lever and a second plate 10 here in one piece with the handle.
  • the second plate 10 (and thereby the control lever 8) is directly linked to the second frame 4b of the first plate 4 by a second pivot connection with a second axis of rotation Y, the second axis Y being secant to the first axis X.
  • the second axis Y is linked to the first plate 4, that is to say that a pivoting of the first plate 4 around the first axis X causes a pivoting of the second axis Y around the first axis X.
  • the device comprises a first transmission shaft 12 directly linked to the frame 1 by a third pivot link with a third axis of rotation A.
  • the first transmission shaft 12 is here arranged so that the third axis A intersects with the first axis X.
  • the first shaft 12 has a first end.
  • the first end comprises a straight end portion and an angled portion connecting the straight end portion to the second end of the second shaft.
  • the rectilinear terminal portion of the first end therefore extends obliquely with respect to the third axis A and at the second end of the second transmission shaft.
  • the second end of the first shaft 12 is connected to a first group of motors (not illustrated here) which is offset from the frame.
  • the device further comprises a first mechanism for connecting the control lever 8 to the first transmission shaft 12 so that the rotation of the control lever 8 around the first axis X causes the rotation of the first transmission shaft 12 around the third axis A .
  • the first link mechanism connects the first transmission shaft 12 to the control lever 8 by a universal joint.
  • the first link mechanism thus comprises here a first cross 19 comprising two branches extending perpendicular to one another.
  • the first link mechanism is directly linked to the first frame 4a by a fourth pivot link with a fourth axis of rotation B.
  • a first branch of the first cross 19 is pivotally mounted on the first frame 4a according to said fourth pivot connection of fourth axis of rotation B.
  • the first cross 19 is arranged so that the fourth axis B is concurrent with the first axis X and the third axis A.
  • the first transmission shaft 12 is arranged so that the third axis A is normal to a plane containing the first axis X and the fourth axis B when the control lever 8 is in a neutral position.
  • the second branch of the first cross 19 is here provided with a central bore extending over the entire length of the second branch.
  • the first transmission shaft 12 is directly linked to the first cross 19 by a fifth pivot connection of fifth axis of rotation C.
  • the rectilinear end portion of the first transmission shaft 12 extends inside of the second branch and is pivotally mounted in the central bore of the second branch via two coaxial bearings.
  • the device is arranged so that the fifth axis C is inclined relative to the first axis X, to the third axis A and to the fourth axis B, and is secant to the first axis X, to the third axis A and to the fourth axis B.
  • the first transmission shaft 12 is here shaped so that the straight end portion extends at 25 degrees from the second end of the first transmission shaft 12, the fifth axis C then extending here at 25 degrees from the third axis A.
  • first transmission shaft 12 Due to the particular angled shape of the first transmission shaft 12, it is thus possible to authorize a pivot connection between the first shaft 12 and the first connection mechanism which has an axis inclined in particular with respect to the first axis X and to the third axis HAS.
  • the transmission of torque between the control lever 8 and the first transmission shaft 12 thus takes place via the first plate 4 (and in particular here the first frame 4a and the second frame 4b) and the first cross 19
  • the first plate 4 is also driven in rotation relative to the frame 1 around the first axis of rotation X which causes, by the universal joint created by the first cross 19, a rotation of the first transmission shaft 12 around the third axis A.
  • the device comprises a second transmission shaft 23 directly connected to the frame 1 by a sixth pivot connection with the sixth axis of rotation D.
  • the second transmission shaft 23 is here arranged so that the sixth axis D is secant with the first axis X and the second axis Y. In this way, the second transmission shaft 23 is arranged so that the sixth axis D is normal to a plane containing the first axis X and the fourth axis B when the control lever 8 is in the neutral position.
  • the sixth axis D is thus parallel to the third axis A.
  • the second shaft 23 has a first end.
  • the first end comprises a straight end portion and an angled portion connecting the straight end portion to the second end of the second shaft 23.
  • the straight end portion of the first end therefore extends obliquely to the sixth axis D and to the second end .
  • the second end of the second shaft 23 is connected to a second group of motors (not illustrated here) which is offset from the frame.
  • the device further comprises a second mechanism for connecting the control lever 8 to the second transmission shaft 23 so that the rotation of the control lever 8 around the second axis Y causes the rotation of the second transmission shaft 23 around the sixth axis D .
  • the second link mechanism connects the second transmission shaft 23 to the control lever 8 by a universal joint.
  • the second link mechanism here comprises a second cross 28 comprising two branches extending perpendicular to one another.
  • the second link mechanism is directly linked to the second plate 10 by a seventh pivot link with a seventh axis of rotation E which here coincides with the first axis of rotation X.
  • a first end of the first branch of the second cross 28 is pivotally mounted on the second plate 10 according to said seventh pivot connection of the seventh axis of rotation E.
  • the second branch of the second cross 28 is here provided with a central bore extending over the entire length of the second branch.
  • the second transmission shaft 23 is directly linked to the second cross 28 by an eighth pivot connection of eighth axis of rotation F.
  • the terminal portion of the second transmission shaft 23 extends inside the second branch and is pivotally mounted in the central bore of the second branch via two coaxial bearings.
  • the device is arranged so that the eighth axis F is inclined with respect to the first axis X, to the second axis Y and to the sixth axis D, and is secant to the first axis X, to the second axis Y and to the sixth axis D.
  • the second transmission shaft 23 is here shaped so that the end portion extends at 25 degrees from the second end of the second transmission shaft 23, the eighth axis F thus extending here at 25 degrees with respect to the sixth axis D.
  • the second frame 4b of the plate is shaped so that an angle ⁇ between the second axis Y and the eighth axis F is strictly greater than the complement of the angle extending between the sixth axis D and the eighth axis F when the control lever 8 is in the neutral position.
  • said complement is 155 degrees, the angle between the sixth axis D and the eighth axis F being 25 degrees.
  • the angle ⁇ between the second axis Y and the eighth axis F must therefore here be strictly greater than 155 degrees when the control lever 8 is in the neutral position.
  • the twisted shape of the first plate 4 prevents this inclination of the second frame 4b from transferring the problem of asymmetry onto the first axis X.
  • the fourth axis B is indeed perpendicular to the first X axis.
  • the device according to the particular embodiment of the invention comprises only eight pivot links and six main elements (first transmission shaft 12, second transmission shaft 23, first cross 19, second cross 28, first plate 4 and control lever 8) while allowing to associate a motor group with each rotational movement of the control lever 8 relative to the frame 1.
  • the device according to the particular embodiment of the invention therefore proves to be of simplified construction.
  • the various elements of the device are only linked relative to each other by bearings. This simplifies the device and makes it more reliable. Indeed, it is thus freed from gears sensitive to seizing or belts sensitive to ruptures.
  • the device is arranged so that the first axis X, the second axis Y, the sixth axis D and the eighth axis F are all concurrent at a first point and the first axis X, the third axis A, the fourth axis B and the fifth axis C are all concurrent at a second point.
  • control lever is connected to two groups of control motors
  • control lever is connected to a third control motor (or a third group of control motors) for the rotation of the control lever around an axis secant with the first axis and the second axis and normal to the plane formed by the first axis and the fourth axis when the control lever is in the neutral position.
  • neutral position we generally mean the position of the control lever in which no effort is exerted on the control lever so that if the device rested on a flat surface the plane formed by the first axis and the fourth axis would be parallel to said surface.
  • the control lever in the neutral position, is typically not inclined along the first axis nor inclined along the second axis.
  • the transmission shafts are directly connected to the output shafts of the corresponding groups of motors, the transmission shafts could alternatively be connected to said output shafts by means of transmission of motion.
  • the bent portion of one of the transmission shafts extends at 25 degrees from the rest of the corresponding transmission shaft
  • the bent portion may be shaped so that the fifth axis (or eighth axis) extends at another angle from the third axis (or sixth axis).
  • the angle of the bent part of the transmission shafts of the particular embodiment of the invention can be adapted to obtain the desired inclination of the fifth axis or of the eighth axis.
  • a particular geometry of the link mechanisms and/or of the transmission shafts will be decided upon in order to adapt the inclination of the fifth axis and of the eighth axis.
  • At least the angle between the eighth axis and the sixth axis will depend on the amplitude of the desired control lever. This angle may thus vary for example from 10 to 65 degrees for a control lever amplitude of between 5 degrees (in absolute value) and 30 degrees (in absolute value).
  • the angle between the second axis and the eighth axis may also be different from what has been indicated, provided that it is strictly greater than the complement of the angle between the eighth axis and the sixth axis.
  • the angle between the second axis and the eighth axis may be greater than or equal to 75 degrees when the control lever is in the neutral position.
  • the angle between the second axis and the eighth axis may be between 75 and 100 degrees.
  • the angle between the second axis and the eighth axis may be between 75 and 90 degrees.
  • This optimum may for example be between 75 and 90 degrees, and preferably between 78 and 86 degrees, for a control lever amplitude of between 5 degrees (in absolute value) and 30 degrees (in absolute value).
  • One or the other of the parts connected by a pivot connection may indifferently carry the bearing or bearings or any other means necessary for the realization of the pivot connection between the two parts.
  • the transmission shafts can be pivotally mounted relative to the frame along the third axis and the sixth axis by being directly guided and mounted in rotation on the frame or by being guided and mounted in rotation on the stator of the corresponding drive motor.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission Devices (AREA)
  • Mechanical Control Devices (AREA)

Claims (8)

  1. Flugsteuervorrichtung für ein Luftfahrzeug, umfassend einen Körper (1), einen Steuerhebel (8), der mit dem Körper (1) verbunden ist, und:
    - eine Platte (4), die mit dem Körper über eine erste Drehverbindung zur Drehung um eine erste Achse (X) verbunden ist, wobei der Steuerhebel mit der Platte über eine zweite Drehverbindung zur Drehung um eine zweite Achse (Y) verbunden ist, die die erste Achse schneidet,
    - eine erste Übertragungswelle (12), die in Bezug auf den Körper drehbar um eine dritte Achse (A) gelagert und mit mindestens einem aus dem Körper ausgelagerten ersten Steuermotor verbunden ist,
    - einen ersten Verbindungsmechanismus zur Verbindung des Steuerhebels mit der ersten Übertragungswelle, derart, dass die Drehung des Steuerhebels um die erste Achse die Drehung der ersten Welle um die dritte Achse bewirkt,
    - eine zweite Übertragungswelle (23), die in Bezug auf den Körper drehbar um eine vierte Achse (D) gelagert und mit mindestens einem aus dem Körper ausgelagerten zweiten Steuermotor verbunden ist,
    - einen zweiten Verbindungsmechanismus zur Verbindung des Steuerhebels mit der zweiten Welle, derart, dass die Drehung des Steuerhebels um die zweite Achse die Drehung der zweiten Welle um die vierte Achse bewirkt,
    wobei die erste Welle und der erste Verbindungsmechanismus miteinander über eine Drehverbindung zur Drehung um eine fünfte Achse (C) verbunden sind, die in Bezug auf die erste Achse und die dritte Achse geneigt ist; und wobei die zweite Welle und der zweite Verbindungsmechanismus miteinander über eine Drehverbindung zur Drehung um eine sechste Achse (F) verbunden sind, die in Bezug auf die zweite Achse und die vierte Achse geneigt ist,
    wobei die Vorrichtung dadurch gekennzeichnet ist, dass die Platte so geformt ist, dass, wenn der Steuerhebel in einer neutralen Position ist, ein Winkel zwischen der zweiten Achse (Y) und der sechsten Achse (F) strikt größer ist als das Komplement eines Winkels zwischen der vierten Achse (D) und der sechsten Achse (F).
  2. Vorrichtung nach Anspruch 1, bei der der Winkel zwischen der zweiten Achse und der sechsten Achse größer oder gleich 75 Grad ist, wenn der Steuerhebel in der neutralen Position ist.
  3. Vorrichtung nach Anspruch 2, bei der der Winkel zwischen der zweiten Achse und der sechsten Achse zwischen 75 und 100 Grad beträgt, wenn der Steuerhebel in der neutralen Position ist.
  4. Vorrichtung nach Anspruch 3, bei der der Winkel zwischen der zweiten Achse und der sechsten Achse zwischen 75 und 90 Grad beträgt, wenn der Steuerhebel in der neutralen Position ist.
  5. Vorrichtung nach einem der Ansprüche 1 bis 4, bei der die Platte einen ersten Rahmen und einen zweiten Rahmen umfasst, die zueinander geneigt sind, wobei die erste Welle mit dem ersten Rahmen und die zweite Welle mit dem zweiten Rahmen verbunden ist.
  6. Vorrichtung nach einem der vorhergehenden Ansprüche, die derart ausgebildet ist, dass die erste Achse (X), die zweite Achse (Y), die vierte Achse (D) und die sechste Achse (F) im Wesentlichen in einem ersten Punkt zusammenfallen und die erste Achse, die dritte Achse (A) und die fünfte Achse (C) im Wesentlichen in einem zweiten Punkt zusammenfallen.
  7. Vorrichtung nach einem der Ansprüche 1 bis 6, bei der der erste Mechanismus ausgebildet ist, um die erste Welle (12) mit der Platte (4) über eine Kardanverbindung zu verbinden.
  8. Vorrichtung nach einem der Ansprüche 1 bis 7, bei der der zweite Mechanismus ausgebildet ist, um die zweite Welle (23) mit dem Steuerhebel (8) über ein Kardanverbindung zu verbinden.
EP19755632.7A 2018-09-04 2019-08-19 Flugsteuervorrichtung für ein flugzeug Active EP3847096B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1857941A FR3085354B1 (fr) 2018-09-04 2018-09-04 Dispositif de commande de vol d'un aeronef
PCT/EP2019/072126 WO2020048757A1 (fr) 2018-09-04 2019-08-19 Dispositif de commande de vol d'un aeronef

Publications (2)

Publication Number Publication Date
EP3847096A1 EP3847096A1 (de) 2021-07-14
EP3847096B1 true EP3847096B1 (de) 2022-09-28

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP19755632.7A Active EP3847096B1 (de) 2018-09-04 2019-08-19 Flugsteuervorrichtung für ein flugzeug

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US (1) US11104417B2 (de)
EP (1) EP3847096B1 (de)
CN (1) CN112601698B (de)
FR (1) FR3085354B1 (de)
WO (1) WO2020048757A1 (de)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3086273B1 (fr) * 2018-09-26 2020-10-09 Safran Electronics & Defense Dispositif de commande de vol d’un aeronef

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7930074B2 (en) * 2007-03-19 2011-04-19 Sikorsky Aircraft Corporation Vertical speed and flight path command module for displacement collective utilizing tactile cueing and tactile feedback
CN101723091B (zh) * 2009-12-16 2012-04-18 李游 旋翼直升机的旋翼变距控制装置
FR2954835B1 (fr) 2009-12-30 2012-04-13 Ratier Figeac Soc Dispositif de pilotage de vehicule a actionneur electromagnetique
CN101973398A (zh) * 2010-09-30 2011-02-16 南京航空航天大学 倾转旋翼飞行器倾转短舱的倾转驱动机构
FR3008457B1 (fr) * 2013-07-15 2015-07-24 Eurocopter France Mecanisme d'accouplement entre un organe de commandes de vol manuelles et un verin de "trim" equipant un aeronef
FR3011815B1 (fr) * 2013-10-15 2016-01-08 Sagem Defense Securite Dispositif de commande de vol d'un aeronef
FR3042775B1 (fr) * 2015-10-21 2017-11-10 Sagem Defense Securite Dispositif de commande de vol d'un aeronef
FR3043475B1 (fr) * 2015-11-06 2017-12-15 Bosch Gmbh Robert Telecommande d'engin
FR3058806B1 (fr) * 2016-11-14 2019-01-25 Dassault Aviation Dispositif de gestion de l'energie mecanique d'un aeronef, presentant un systeme d'application de force sur une manette de commande, aeronef et procede associes

Also Published As

Publication number Publication date
CN112601698A (zh) 2021-04-02
US20210197959A1 (en) 2021-07-01
US11104417B2 (en) 2021-08-31
FR3085354A1 (fr) 2020-03-06
WO2020048757A1 (fr) 2020-03-12
CN112601698B (zh) 2022-07-05
FR3085354B1 (fr) 2020-09-04
EP3847096A1 (de) 2021-07-14

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